Changes for page LSS Firmware

Last modified by Eric Nantel on 2024/11/21 07:18

From version < 15.2 >
edited by Coleman Benson
on 2021/09/20 08:52
To version < 15.3 >
edited by Coleman Benson
on 2021/09/20 08:54
< >
Change comment: There is no comment for this version

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... ... @@ -74,22 +74,23 @@
74 74  *** #0QD#5QD#10QD\r  -  As an example, this single command queries three servos for their respective positions
75 75  *** #0QD0QC0#5QD0QC0  -  This queries two servos for their position and current (milliamps). Note: 0 is required to separate commands QD and QC
76 76  ** **A**uto **B**aud **R**ate (ABR) which can be enabled (off by default):
77 -*** #254ABR1  -  Enable baud rate detection on first byte received after power-up.
78 -*** #254ABR2,30  -  Enable baud rate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.
77 +*** #254ABR1  -  Enable baud rate detection on first byte received after power-up.
78 +*** #254ABR2,30  -  Enable baud rate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.
79 79  *** Warning: ABR doesn't work well with LSS Config at the moment
80 80  ** Delayed & ordered query response.
81 -*** #254QID120  -  For example, this command can scan the entire bus at once for servos without conflict.
81 +*** #254QID120  -  For example, this command can scan the entire bus at once for servos without conflict.
82 82  *** Servos use a simple formula to delay their response: 200usec + <id> * 120usec, where <id> is their servo ID 0 to 253.
83 83  *** The first parameter (ex. 120) indicates how many milliseconds to delay between IDs and 120usec is a safe number.
84 84  *** Warning: #254QID with no parameter will still conflict to remain backward compatible with the LSS Config software
85 -** Configure a **SLOT** # for each servo and using (ex.) #254QD can query all servos at once without conflict
85 +** Configure a **SLOT** # for each servo and using (ex.)
86 +*** #254QD  -  An example of how all servos can be queried at once without conflict
86 86  *** Ex. Three servos with ID 0, 5, and 10 and want to configure them to be slots 0, 1, and 2 respectively:
87 -*** #254SLOTCOUNT3\r - configures 3 slots on the bus
88 -*** #0SLOT0\r  -  Don't really have to do this one, servos default to slot 0 on power-up
89 -*** #5SLOT1\r  -  Servo ID5 to slot 1
90 -*** #10SLOT2\r  -  Servo ID10 to slot 2
91 -*** #254QD\r  -  Query all servos for position
92 -*** #254QD0QC0\r  -  Query all servos for position and current (milliamps)
88 +**** #254SLOTCOUNT3\r - configures 3 slots on the bus
89 +**** #0SLOT0\r  -  Don't really have to do this one, servos default to slot 0 on power-up
90 +**** #5SLOT1\r  -  Servo ID5 to slot 1
91 +**** #10SLOT2\r  -  Servo ID10 to slot 2
92 +**** #254QD\r  -  Query all servos for position
93 +**** #254QD0QC0\r  -  Query all servos for position and current (milliamps)
93 93  *** Note: You only need to configure slots once on power-up, #254<cmd> will offset all servo replies based on slot# after this is set.
94 94  *** Note: Why not just use servo ID as slot#? Many LSS bus setups are not using sequential IDs so it's more efficient to assign slot# then expect everyone to change their robot's logical servo IDs to be sequential.
95 95  * Fixes
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